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Add RtMidi for midi control, use the --midi option in premake, and see

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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
This commit is contained in:
erwincoumans
2016-11-16 16:12:59 -08:00
parent b4b93573fc
commit 2329c00faa
32 changed files with 6434 additions and 398 deletions
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30
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -43,8 +43,12 @@ bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
@@ -538,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_allowRealTimeSimulation(true),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -704,7 +708,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
#endif
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -3674,6 +3678,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_data->m_dynamicsWorld==0)
return false;
@@ -3707,7 +3712,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
} else
{
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody)
if (multiCol && multiCol->m_multiBody && multiCol->m_multiBody->getBaseMass()>0.)
{
m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
@@ -3859,6 +3864,16 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gSubStep = m_data->m_physicsDeltaTime;
}
if (gHuskyId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(gHuskyId);
if (bodyHandle && bodyHandle->m_multiBody)
{
huskyTr = bodyHandle->m_multiBody->getBaseWorldTransform();
}
}
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep);
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
@@ -3918,7 +3933,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
m_data->m_hasGround = true;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// loadUrdf("quadruped/quadruped.urdf", btVector3(2, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
if (m_data->m_gripperRigidbodyFixed == 0)
{
@@ -4081,7 +4097,9 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
gHuskyId = bodyId;
b3Printf("huskyId = %d", gHuskyId);
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
@@ -4184,7 +4202,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
q_new[5] = -SIMD_HALF_PI*0.66;
q_new[6] = 0;
if (gCloseToKuka)
if (gCloseToKuka && gEnableKukaControl)
{
double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};